#! /usr/bin/env python
"""
This script tests the Segway RMP400 robot with differential drive actuator
"""
import sys
from morse.testing.testing import MorseTestCase
from pymorse import Morse
# Include this import to be able to use your test file as a regular
# builder script, ie, usable with: 'morse [run|exec] base_testing.py
try:
from morse.builder import *
except ImportError:
pass
[docs]def gradual_speed(s, morse, v, w, t):
""" Start and finish applying only half of the desired speed """
tic = t/20.0
s.publish({'v' : v/4, 'w' : w/4})
morse.sleep(tic*2)
s.publish({'v' : v/2, 'w' : w/2})
morse.sleep(tic*1)
s.publish({'v' : v, 'w' : w})
morse.sleep(tic*18)
s.publish({'v' : v/2, 'w' : w/2})
morse.sleep(tic*2)
s.publish({'v' : v/4, 'w' : w/4})
morse.sleep(tic*2)
s.publish({'v' : 0.0, 'w' : 0.0})
[docs]def send_speed(s, morse, v, w, t):
#s.publish({'v' : v, 'w' : w})
#morse.sleep(t)
#s.publish({'v' : 0.0, 'w' : 0.0})
gradual_speed(s, morse, v, w, t)
morse.sleep(1)
[docs]def send_service_speed(s, morse, v, w, t):
s.set_speed(v, w)
morse.sleep(t)
s.stop()
morse.sleep(1)
[docs]class Differential_VW_Test(MorseTestCase):
[docs] def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
robot = SegwayRMP400()
robot.translate(z=0.1)
pose = Pose()
robot.append(pose)
pose.translate(z=-0.1)
pose.add_stream('socket')
pose.add_stream('text')
motion = MotionVWDiff()
robot.append(motion)
motion.add_stream('socket')
motion.add_service('socket')
env = Environment('empty', fastmode = True)
env.add_service('socket')
[docs] def test_vw_controller(self):
with Morse() as morse:
# Read the start position, it must be (0.0, 0.0, 0.0)
pose_stream = morse.robot.pose
pose = pose_stream.get()
for key,coord in pose.items():
if key == 'z':
self.assertAlmostEqual(coord, 0.10, delta=0.03)
elif key != 'timestamp':
self.assertAlmostEqual(coord, 0.0, delta=0.03)
v_w = morse.robot.motion
send_speed(v_w, morse, 1.0, 0.0, 2.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 2.0, delta=0.15)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['z'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['yaw'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.15)
send_speed(v_w, morse, -1.0, 0.0, 2.0)
pose = pose_stream.get()
for key,coord in pose.items():
if key == 'z':
self.assertAlmostEqual(coord, 0.10, delta=0.15)
elif key != 'timestamp':
self.assertAlmostEqual(coord, 0.0, delta=0.15)
"""
send_speed(v_w, morse, 0.0, -math.pi/4.0, 2.0)
pose = pose_stream.get()
# for non-null w, we have r = v / w
self.assertAlmostEqual(pose['x'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['z'], 0.10, delta=0.15)
self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.15)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.15)
send_speed(v_w, morse, 0.0, math.pi/4.0, 2.0)
pose = pose_stream.get()
for key,coord in pose.items():
if key == 'z':
self.assertAlmostEqual(coord, 0.10, delta=0.15)
else:
self.assertAlmostEqual(coord, 0.0, delta=0.15)
"""
send_speed(v_w, morse, 1.0, -math.pi/4.0, 2.0)
pose = pose_stream.get()
# for non-null w, we have r = v / w
self.assertAlmostEqual(pose['x'], 4.0/ math.pi , delta=0.20)
self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=0.20)
self.assertAlmostEqual(pose['z'], 0.0, delta=0.20)
self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.20)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.20)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.20)
send_speed(v_w, morse, 0.5, -math.pi/8.0, 12.0)
pose = pose_stream.get()
for key,coord in pose.items():
if key == 'z':
self.assertAlmostEqual(coord, 0.10, delta=0.15)
elif key != 'timestamp':
self.assertAlmostEqual(coord, 0.0, delta=0.20)
"""
# The robot slips too much to expect a precise position.
# However, the behaviour seems reasonnable considering its
# real-life behaviour.
send_speed(v_w, morse, -2.0, math.pi/2.0, 3.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 4.0/ math.pi , delta=0.20)
self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=0.20)
self.assertAlmostEqual(pose['z'], 0.0, delta=0.20)
self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.20)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.20)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.20)
"""
[docs] def test_vw_service_controller(self):
with Morse() as morse:
# Read the start position, it must be (0.0, 0.0, 0.0)
pose_stream = morse.robot.pose
pose = pose_stream.get()
for key,coord in pose.items():
if key == 'z':
self.assertAlmostEqual(coord, 0.10, delta=0.02)
elif key != 'timestamp':
self.assertAlmostEqual(coord, 0.0, delta=0.02)
v_w = morse.robot.motion
send_service_speed(v_w, morse, 1.0, 0.0, 2.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 2.0, delta=0.15)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['z'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['yaw'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.15)
send_service_speed(v_w, morse, -1.0, 0.0, 2.0)
pose = pose_stream.get()
for key,coord in pose.items():
if key == 'z':
self.assertAlmostEqual(coord, 0.10, delta=0.15)
elif key != 'timestamp':
self.assertAlmostEqual(coord, 0.0, delta=0.15)
send_service_speed(v_w, morse, 1.0, -math.pi/4.0, 2.0)
pose = pose_stream.get()
# for non-null w, we have r = v / w
self.assertAlmostEqual(pose['x'], 4.0/ math.pi , delta=0.2)
self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=0.2)
self.assertAlmostEqual(pose['z'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.15)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.15)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(Differential_VW_Test)
